[FileInfo]
FileName=md_1.1.eds
FileVersion=1.1
FileRevision=1
LastEDS=
EDSVersion=4.0
Description=MD motor controller
CreationTime=1:00PM
CreationDate=11-23-2020
CreatedBy=Piotr Wasilewski
ModificationTime=1:00PM
ModificationDate=09-14-2026
ModifiedBy=Jakub Matyszczak

[DeviceInfo]
VendorName=MAB ROBOTICS
VendorNumber=1
ProductName=MD
ProductNumber=1
RevisionNumber=0
BaudRate_10=1
BaudRate_20=1
BaudRate_50=1
BaudRate_125=1
BaudRate_250=1
BaudRate_500=1
BaudRate_800=1
BaudRate_1000=1
SimpleBootUpMaster=0
SimpleBootUpSlave=0
Granularity=8
DynamicChannelsSupported=0
CompactPDO=0
GroupMessaging=0
NrOfRXPDO=4
NrOfTXPDO=4
LSS_Supported=1
NG_Slave=0

[DummyUsage]
Dummy0001=0
Dummy0002=1
Dummy0003=1
Dummy0004=1
Dummy0005=1
Dummy0006=1
Dummy0007=1

[Comments]
Lines=0

[MandatoryObjects]
SupportedObjects=3
1=0x1000
2=0x1001
3=0x1018

[1000]
ParameterName=Device type
ObjectType=0x7
;StorageLocation=PERSIST_COMM
DataType=0x0007
AccessType=ro
DefaultValue=0x00000192
PDOMapping=0

[1001]
ParameterName=Error register
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x00
PDOMapping=1

[1018]
ParameterName=Identity
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x5

[1018sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x04
PDOMapping=0

[1018sub1]
ParameterName=Vendor-ID
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0x00000000
PDOMapping=0

[1018sub2]
ParameterName=Product code
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0x00000000
PDOMapping=0

[1018sub3]
ParameterName=Revision number
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0x00000000
PDOMapping=0

[1018sub4]
ParameterName=Serial number
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0x00000000
PDOMapping=0

[OptionalObjects]
SupportedObjects=62
1=0x1003
2=0x1005
3=0x1006
4=0x1007
5=0x1008
6=0x1009
7=0x1010
8=0x1011
9=0x1012
10=0x1014
11=0x1015
12=0x1016
13=0x1017
14=0x1019
15=0x1200
16=0x1201
17=0x1280
18=0x1400
19=0x1401
20=0x1402
21=0x1403
22=0x1600
23=0x1601
24=0x1602
25=0x1603
26=0x1800
27=0x1801
28=0x1802
29=0x1803
30=0x1A00
31=0x1A01
32=0x1A02
33=0x1A03
34=0x6040
35=0x6041
36=0x6060
37=0x6061
38=0x6062
39=0x6064
40=0x6067
41=0x606B
42=0x606C
43=0x606D
44=0x6071
45=0x6072
46=0x6073
47=0x6074
48=0x6075
49=0x6076
50=0x6077
51=0x6079
52=0x607A
53=0x607D
54=0x6080
55=0x6081
56=0x6083
57=0x6084
58=0x6085
59=0x60C5
60=0x60C6
61=0x60FF
62=0x6502

[1003]
ParameterName=Pre-defined error field
ObjectType=0x8
;StorageLocation=RAM
SubNumber=0x11

[1003sub0]
ParameterName=Number of errors
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=
PDOMapping=0

[1003sub1]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003sub2]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003sub3]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003sub4]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003sub5]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003sub6]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003sub7]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003sub8]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003sub9]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003subA]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003subB]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003subC]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003subD]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003subE]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003subF]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1003sub10]
ParameterName=Standard error field
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=
PDOMapping=0

[1005]
ParameterName=COB-ID SYNC message
ObjectType=0x7
;StorageLocation=PERSIST_COMM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000080
PDOMapping=0

[1006]
ParameterName=Communication cycle period
ObjectType=0x7
;StorageLocation=PERSIST_COMM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[1007]
ParameterName=Synchronous window length
ObjectType=0x7
;StorageLocation=PERSIST_COMM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[1008]
ParameterName=Manufacturer device name
ObjectType=0x7
;StorageLocation=PERSIST_COMM
DataType=0x0009
AccessType=ro
DefaultValue=MD80
PDOMapping=0

[1009]
ParameterName=Manufacturer hardware version
ObjectType=0x7
;StorageLocation=PERSIST_COMM
DataType=0x0009
AccessType=ro
DefaultValue=0
PDOMapping=0

[1010]
ParameterName=Store parameters
ObjectType=0x8
;StorageLocation=RAM
SubNumber=0x5

[1010sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x04
PDOMapping=0

[1010sub1]
ParameterName=Save all parameters
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1010sub2]
ParameterName=Save communication parameters
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1010sub3]
ParameterName=Save application parameters
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1010sub4]
ParameterName=Save manufacturer defined parameters
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1011]
ParameterName=Restore default parameters
ObjectType=0x8
;StorageLocation=RAM
SubNumber=0x5

[1011sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x04
PDOMapping=0

[1011sub1]
ParameterName=Restore all default parameters
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1011sub2]
ParameterName=Restore communication default parameters
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1011sub3]
ParameterName=Restore application default parameters
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1011sub4]
ParameterName=Restore manufacturer defined default parameters
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000001
PDOMapping=0

[1012]
ParameterName=COB-ID time stamp object
ObjectType=0x7
;StorageLocation=PERSIST_COMM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000100
PDOMapping=0

[1014]
ParameterName=COB-ID EMCY
ObjectType=0x7
;StorageLocation=PERSIST_COMM
DataType=0x0007
AccessType=rw
DefaultValue=0x80+$NODEID
PDOMapping=0

[1015]
ParameterName=Inhibit time EMCY
ObjectType=0x7
;StorageLocation=PERSIST_COMM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1016]
ParameterName=Consumer heartbeat time
ObjectType=0x8
;StorageLocation=PERSIST_COMM
SubNumber=0x9

[1016sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x08
PDOMapping=0

[1016sub1]
ParameterName=Consumer heartbeat time
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1016sub2]
ParameterName=Consumer heartbeat time
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1016sub3]
ParameterName=Consumer heartbeat time
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1016sub4]
ParameterName=Consumer heartbeat time
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1016sub5]
ParameterName=Consumer heartbeat time
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1016sub6]
ParameterName=Consumer heartbeat time
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1016sub7]
ParameterName=Consumer heartbeat time
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1016sub8]
ParameterName=Consumer heartbeat time
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x00000000
PDOMapping=0

[1017]
ParameterName=Producer heartbeat time
ObjectType=0x7
;StorageLocation=PERSIST_COMM
DataType=0x0006
AccessType=rw
DefaultValue=1000
PDOMapping=0

[1019]
ParameterName=Synchronous counter overflow value
ObjectType=0x7
;StorageLocation=PERSIST_COMM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1200]
ParameterName=SDO server parameter
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x3

[1200sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0

[1200sub1]
ParameterName=COB-ID client to server (rx)
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0x600+$NODEID
PDOMapping=1

[1200sub2]
ParameterName=COB-ID server to client (tx)
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0x580+$NODEID
PDOMapping=1

[1201]
ParameterName=SDO server parameter
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x3

[1201sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=2
PDOMapping=0

[1201sub1]
ParameterName=COB-ID client to server (rx)
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0x600+$NODEID
PDOMapping=1

[1201sub2]
ParameterName=COB-ID server to client (tx)
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0x580+$NODEID
PDOMapping=1

[1280]
ParameterName=SDO client parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x4

[1280sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x03
PDOMapping=0

[1280sub1]
ParameterName=COB-ID client to server (tx)
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x80000000
PDOMapping=1

[1280sub2]
ParameterName=COB-ID server to client (rx)
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x80000000
PDOMapping=1

[1280sub3]
ParameterName=Node-ID of the SDO server
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0x01
PDOMapping=0

[1400]
ParameterName=RPDO communication parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x3

[1400sub0]
ParameterName=max sub-index
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=6
PDOMapping=0

[1400sub1]
ParameterName=COB-ID used by RPDO
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x200
PDOMapping=0

[1400sub2]
ParameterName=transmission type
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=254
PDOMapping=0

[1401]
ParameterName=RPDO communication parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x3

[1401sub0]
ParameterName=max sub-index
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=6
PDOMapping=0

[1401sub1]
ParameterName=COB-ID used by RPDO
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x300
PDOMapping=0

[1401sub2]
ParameterName=transmission type
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=254
PDOMapping=0

[1402]
ParameterName=RPDO communication parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x3

[1402sub0]
ParameterName=max sub-index
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=6
PDOMapping=0

[1402sub1]
ParameterName=COB-ID used by RPDO
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x400
PDOMapping=0

[1402sub2]
ParameterName=transmission type
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=254
PDOMapping=0

[1403]
ParameterName=RPDO communication parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x3

[1403sub0]
ParameterName=max sub-index
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=6
PDOMapping=0

[1403sub1]
ParameterName=COB-ID used by RPDO
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x500
PDOMapping=0

[1403sub2]
ParameterName=transmission type
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=254
PDOMapping=0

[1600]
ParameterName=RPDO mapping parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x9

[1600sub0]
ParameterName=Number of mapped objects
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0x01
PDOMapping=0

[1600sub1]
ParameterName=Mapped object 1
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x60FF0020
PDOMapping=0

[1600sub2]
ParameterName=Mapped object 2
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1600sub3]
ParameterName=Mapped object 3
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1600sub4]
ParameterName=Mapped object 4
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1600sub5]
ParameterName=Mapped object 5
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1600sub6]
ParameterName=Mapped object 6
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1600sub7]
ParameterName=Mapped object 7
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1600sub8]
ParameterName=Mapped object 8
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1601]
ParameterName=RPDO mapping parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x9

[1601sub0]
ParameterName=Number of mapped objects
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0x02
PDOMapping=0

[1601sub1]
ParameterName=Mapped object 1
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x60400010
PDOMapping=0

[1601sub2]
ParameterName=Mapped object 2
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x60600008
PDOMapping=0

[1601sub3]
ParameterName=Mapped object 3
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1601sub4]
ParameterName=Mapped object 4
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1601sub5]
ParameterName=Mapped object 5
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1601sub6]
ParameterName=Mapped object 6
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1601sub7]
ParameterName=Mapped object 7
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1601sub8]
ParameterName=Mapped object 8
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1602]
ParameterName=RPDO mapping parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x9

[1602sub0]
ParameterName=Number of mapped objects
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0x02
PDOMapping=0

[1602sub1]
ParameterName=Mapped object 1
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x60400010
PDOMapping=0

[1602sub2]
ParameterName=Mapped object 2
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x607a0020
PDOMapping=0

[1602sub3]
ParameterName=Mapped object 3
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1602sub4]
ParameterName=Mapped object 4
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1602sub5]
ParameterName=Mapped object 5
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1602sub6]
ParameterName=Mapped object 6
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1602sub7]
ParameterName=Mapped object 7
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1602sub8]
ParameterName=Mapped object 8
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1603]
ParameterName=RPDO mapping parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x9

[1603sub0]
ParameterName=Number of mapped objects
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0x02
PDOMapping=0

[1603sub1]
ParameterName=Mapped object 1
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x60400010
PDOMapping=0

[1603sub2]
ParameterName=Mapped object 2
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x60ff0020
PDOMapping=0

[1603sub3]
ParameterName=Mapped object 3
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1603sub4]
ParameterName=Mapped object 4
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1603sub5]
ParameterName=Mapped object 5
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1603sub6]
ParameterName=Mapped object 6
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1603sub7]
ParameterName=Mapped object 7
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1603sub8]
ParameterName=Mapped object 8
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1800]
ParameterName=TPDO communication parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x7

[1800sub0]
ParameterName=max sub-index
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=6
PDOMapping=0

[1800sub1]
ParameterName=COB-ID used by TPDO
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x180
PDOMapping=0

[1800sub2]
ParameterName=transmission type
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=254
PDOMapping=0

[1800sub3]
ParameterName=inhibit time
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1800sub4]
ParameterName=compatibility entry
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1800sub5]
ParameterName=event timer
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1800sub6]
ParameterName=SYNC start value
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1801]
ParameterName=TPDO communication parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x7

[1801sub0]
ParameterName=max sub-index
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=6
PDOMapping=0

[1801sub1]
ParameterName=COB-ID used by TPDO
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x280
PDOMapping=0

[1801sub2]
ParameterName=transmission type
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=254
PDOMapping=0

[1801sub3]
ParameterName=inhibit time
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1801sub4]
ParameterName=compatibility entry
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1801sub5]
ParameterName=event timer
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1801sub6]
ParameterName=SYNC start value
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1802]
ParameterName=TPDO communication parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x7

[1802sub0]
ParameterName=max sub-index
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=6
PDOMapping=0

[1802sub1]
ParameterName=COB-ID used by TPDO
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x380
PDOMapping=0

[1802sub2]
ParameterName=transmission type
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=254
PDOMapping=0

[1802sub3]
ParameterName=inhibit time
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1802sub4]
ParameterName=compatibility entry
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1802sub5]
ParameterName=event timer
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1802sub6]
ParameterName=SYNC start value
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1803]
ParameterName=TPDO communication parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x7

[1803sub0]
ParameterName=max sub-index
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=6
PDOMapping=0

[1803sub1]
ParameterName=COB-ID used by TPDO
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x480
PDOMapping=0

[1803sub2]
ParameterName=transmission type
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=254
PDOMapping=0

[1803sub3]
ParameterName=inhibit time
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1803sub4]
ParameterName=compatibility entry
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1803sub5]
ParameterName=event timer
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[1803sub6]
ParameterName=SYNC start value
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[1A00]
ParameterName=TPDO mapping parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x3

[1A00sub0]
ParameterName=Number of mapped objects
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0x01
PDOMapping=0

[1A00sub1]
ParameterName=Mapped object 1
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x60410010
PDOMapping=0

[1A00sub2]
ParameterName=Mapped object 2
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0

[1A01]
ParameterName=TPDO mapping parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x3

[1A01sub0]
ParameterName=Number of mapped objects
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0x02
PDOMapping=0

[1A01sub1]
ParameterName=Mapped object 1
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x60410010
PDOMapping=0

[1A01sub2]
ParameterName=Mapped object 2
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x60640020
PDOMapping=0

[1A02]
ParameterName=TPDO mapping parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x3

[1A02sub0]
ParameterName=Number of mapped objects
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=2
PDOMapping=0

[1A02sub1]
ParameterName=Mapped object 1
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x60410010
PDOMapping=0

[1A02sub2]
ParameterName=Mapped object 2
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x606c0020
PDOMapping=0

[1A03]
ParameterName=TPDO mapping parameter
ObjectType=0x9
;StorageLocation=PERSIST_COMM
SubNumber=0x3

[1A03sub0]
ParameterName=Number of mapped objects
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=2
PDOMapping=0

[1A03sub1]
ParameterName=Mapped object 1
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x60410010
PDOMapping=0

[1A03sub2]
ParameterName=Mapped object 2
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0x60770010
PDOMapping=0

[6040]
ParameterName=Controlword
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=1

[6041]
ParameterName=Statusword
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=ro
DefaultValue=0
PDOMapping=1

[6060]
ParameterName=Modes Of Operation
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0002
AccessType=rww
DefaultValue=0
PDOMapping=1

[6061]
ParameterName=Modes Of Operation Display
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0002
AccessType=ro
DefaultValue=0
PDOMapping=1

[6062]
ParameterName=Position Demand Value
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=0

[6064]
ParameterName=Position Value
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=1

[6067]
ParameterName=Position Window
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[606B]
ParameterName=Velocity Demand Value
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=0

[606C]
ParameterName=Velocity Actual Value
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0004
AccessType=ro
DefaultValue=0
PDOMapping=1

[606D]
ParameterName=Velocity Window
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[6071]
ParameterName=Target Torque
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0003
AccessType=rw
DefaultValue=0
PDOMapping=1

[6072]
ParameterName=Max Torque
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=1

[6073]
ParameterName=Max Current
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=1

[6074]
ParameterName=Torque Demand Value
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0003
AccessType=rw
DefaultValue=0
PDOMapping=0

[6075]
ParameterName=Motor Rated Current
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[6076]
ParameterName=Motor Rated Torque
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[6077]
ParameterName=Torque Actual Value
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0003
AccessType=ro
DefaultValue=0
PDOMapping=1

[6079]
ParameterName=DClink Circuit Voltage
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=1

[607A]
ParameterName=Target Position
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1

[607D]
ParameterName=Software Position Limit
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x3

[607Dsub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[607Dsub1]
ParameterName=Min position limit
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0004
AccessType=rw
DefaultValue=-2147483648
PDOMapping=1

[607Dsub2]
ParameterName=Max position limit
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0004
AccessType=rw
DefaultValue=2147483647
PDOMapping=1

[6080]
ParameterName=Max Motor Speed
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=1000
PDOMapping=0

[6081]
ParameterName=Profile Velocity
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rww
DefaultValue=0
PDOMapping=1

[6083]
ParameterName=Profile Acceleration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=1

[6084]
ParameterName=Profile Deceleration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=1

[6085]
ParameterName=Quick Stop Deceleration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rww
DefaultValue=10000
PDOMapping=1

[60C5]
ParameterName=Max Acceleration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=1

[60C6]
ParameterName=Max Deceleration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=1

[60FF]
ParameterName=Target Velocity
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0004
AccessType=rw
DefaultValue=0
PDOMapping=1

[6502]
ParameterName=Supported Drive Modes
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=647
PDOMapping=0

[ManufacturerObjects]
SupportedObjects=15
1=0x2000
2=0x2001
3=0x2002
4=0x2003
5=0x2004
6=0x2005
7=0x2006
8=0x2007
9=0x2008
10=0x2009
11=0x200A
12=0x200B
13=0x200C
14=0x200D
15=0x200E

[2000]
ParameterName=Motor Settings
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0xE

[2000sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x0D
PDOMapping=0

[2000sub1]
ParameterName=Pole pairs
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2000sub2]
ParameterName=Torque constant
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=0

[2000sub3]
ParameterName=Phase Inductance
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=ro
DefaultValue=0
PDOMapping=0

[2000sub4]
ParameterName=Phase resistance
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=ro
DefaultValue=0
PDOMapping=0

[2000sub5]
ParameterName=Torque Bandwidth
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=0
PDOMapping=0

[2000sub6]
ParameterName=Motor Name
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0009
AccessType=rw
DefaultValue=MD80
PDOMapping=0

[2000sub7]
ParameterName=Motor Shutdown Temperature
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=80
PDOMapping=0

[2000sub8]
ParameterName=Gear Ratio
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=1
PDOMapping=0

[2000sub9]
ParameterName=Calibration Mode
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[2000subA]
ParameterName=Can ID
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=1
PDOMapping=0

[2000subB]
ParameterName=Can Baudrate
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=1
PDOMapping=0

[2000subC]
ParameterName=Can Watchdog
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=rw
DefaultValue=1
PDOMapping=0

[2000subD]
ParameterName=Reverse Direction
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=false
PDOMapping=0

[2001]
ParameterName=Velocity PID Controller
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x5

[2001sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x04
PDOMapping=0

[2001sub1]
ParameterName=Kp
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=1

[2001sub2]
ParameterName=Ki
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=1

[2001sub3]
ParameterName=Kd
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=1

[2001sub4]
ParameterName=Integral Limit
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=0

[2002]
ParameterName=Position PID Controller
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x5

[2002sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x04
PDOMapping=0

[2002sub1]
ParameterName=Kp
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=1

[2002sub2]
ParameterName=Ki
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=1

[2002sub3]
ParameterName=Kd
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=1

[2002sub4]
ParameterName=Integral Limit
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003]
ParameterName=System Command
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0xE

[2003sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x0D
PDOMapping=0

[2003sub1]
ParameterName=Blink LEDs
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003sub2]
ParameterName=Reset Controller
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003sub3]
ParameterName=Run Calibration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003sub4]
ParameterName=Run Output Encoder Calibration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003sub5]
ParameterName=Set Zero
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003sub6]
ParameterName=Calibrate Current PI Gains
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003sub7]
ParameterName=Test Output Encoder
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003sub8]
ParameterName=Test Main Encoder
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003sub9]
ParameterName=Save Memory
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003subA]
ParameterName=Revert Factory Settings
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003subB]
ParameterName=Clear Errors
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003subC]
ParameterName=Clear Warnings
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2003subD]
ParameterName=Run Can Reinit
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=rw
DefaultValue=0
PDOMapping=0

[2004]
ParameterName=System Status
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x9

[2004sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x08
PDOMapping=0

[2004sub1]
ParameterName=Main Encoder Status
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2004sub2]
ParameterName=Output Encoder Status
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2004sub3]
ParameterName=Calibration Status
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2004sub4]
ParameterName=Bridge Status
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2004sub5]
ParameterName=Hardware Status
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2004sub6]
ParameterName=Homing Status
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2004sub7]
ParameterName=Motion Status
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2004sub8]
ParameterName=Communication Status
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=rw
DefaultValue=0
PDOMapping=0

[2005]
ParameterName=Output Encoder
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x6

[2005sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x05
PDOMapping=0

[2005sub1]
ParameterName=Type
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[2005sub2]
ParameterName=Calibration Mode
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[2005sub3]
ParameterName=Mode
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[2005sub4]
ParameterName=Position
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=ro
DefaultValue=0
PDOMapping=1

[2005sub5]
ParameterName=Velocity
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rwr
DefaultValue=0
PDOMapping=1

[2006]
ParameterName=Temperature
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x3

[2006sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[2006sub1]
ParameterName=Motor Temperature
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=ro
DefaultValue=0
PDOMapping=1

[2006sub2]
ParameterName=Mosfet Temperature
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=ro
DefaultValue=0
PDOMapping=1

[2007]
ParameterName=Limits
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x7

[2007sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x06
PDOMapping=0

[2007sub1]
ParameterName=Max Torque
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=0

[2007sub2]
ParameterName=Max Acceleration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=0

[2007sub3]
ParameterName=Max Deceleration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=0

[2007sub4]
ParameterName=Max Velocity
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=0

[2007sub5]
ParameterName=Max Position
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=0

[2007sub6]
ParameterName=Min Position
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=0

[2008]
ParameterName=Motion
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0xC

[2008sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x0B
PDOMapping=0

[2008sub1]
ParameterName=Mode Command
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rww
DefaultValue=0
PDOMapping=1

[2008sub2]
ParameterName=Mode Status
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rww
DefaultValue=0
PDOMapping=1

[2008sub3]
ParameterName=Profile Velocity
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rww
DefaultValue=0
PDOMapping=1

[2008sub4]
ParameterName=Profile Acceleration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rww
DefaultValue=0
PDOMapping=1

[2008sub5]
ParameterName=Profile Deceleration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rww
DefaultValue=0
PDOMapping=1

[2008sub6]
ParameterName=Quick Stop Deceleration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rww
DefaultValue=0
PDOMapping=1

[2008sub7]
ParameterName=Position Window
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rww
DefaultValue=0
PDOMapping=1

[2008sub8]
ParameterName=Velocity Window
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rww
DefaultValue=0
PDOMapping=1

[2008sub9]
ParameterName=Target Position
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=1

[2008subA]
ParameterName=Target Velocity
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=1

[2008subB]
ParameterName=Target Torque
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=1

[2009]
ParameterName=Motor Measurements
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x4

[2009sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x03
PDOMapping=0

[2009sub1]
ParameterName=Output Position
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rwr
DefaultValue=0
PDOMapping=1

[2009sub2]
ParameterName=Output Velocity
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rwr
DefaultValue=0
PDOMapping=1

[2009sub3]
ParameterName=Output Torque
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rwr
DefaultValue=0
PDOMapping=1

[200A]
ParameterName=Firmware info
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x4

[200Asub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x03
PDOMapping=0

[200Asub1]
ParameterName=Commit Hash
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0009
AccessType=ro
DefaultValue=0
PDOMapping=0

[200Asub2]
ParameterName=Build Date
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[200Asub3]
ParameterName=Version
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[200B]
ParameterName=Bootloder Info
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x5

[200Bsub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x04
PDOMapping=0

[200Bsub1]
ParameterName=Bootloader Fixed
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0001
AccessType=ro
DefaultValue=0
PDOMapping=0

[200Bsub2]
ParameterName=Commit Hash
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0009
AccessType=ro
DefaultValue=0
PDOMapping=0

[200Bsub3]
ParameterName=Build Date
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[200Bsub4]
ParameterName=Version
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0007
AccessType=ro
DefaultValue=0
PDOMapping=0

[200C]
ParameterName=Impedance PD Controller
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x3

[200Csub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[200Csub1]
ParameterName=Kp
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=1

[200Csub2]
ParameterName=Kd
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=rw
DefaultValue=0
PDOMapping=1

[200D]
ParameterName=User GPIO
ObjectType=0x9
;StorageLocation=RAM
SubNumber=0x3

[200Dsub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=ro
DefaultValue=0x02
PDOMapping=0

[200Dsub1]
ParameterName=User GPIO Configuration
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0005
AccessType=rw
DefaultValue=0
PDOMapping=0

[200Dsub2]
ParameterName=User GPIO State
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0006
AccessType=ro
DefaultValue=0
PDOMapping=0

[200E]
ParameterName=DC bus voltage
ObjectType=0x7
;StorageLocation=RAM
DataType=0x0008
AccessType=ro
DefaultValue=0
PDOMapping=0